Development and control of a ball riding robot with a pitch and roll controlled inverted pendulum | |
| Author | Mahipala, Dhanika |
| Call Number | AIT Thesis no.ISE-20-10 |
| Subject(s) | Robots--Motion Robots--Control systems |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Abstract | Ball riding robot and the inverse pendulum has been classical control engineering problems as they are non-linear and highly unstable systems. Ball riding robot is a wheeled robot body which tries to balance on a ball by controlling the ball movement. In this thesis a ball riding robot is equipped with an inverted pendulum without an actuator unlike in the classical inverted pendulum scenario where a cart is in place thus, forcing the system to balance both robot body and the inverted pendulum solely relying on the actuated movement of the ball using Ballbot wheels. This thesis goes on illustrating the design, implementation and control of this new dynamic system. |
| Year | 2020 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Pisut Koomsap;Mongkol Ekpanyapong |
| Scholarship Donor(s) | His Majesty the King’s Scholarships (Thailand) |
| Degree | Thesis (M. Eng.) -- Asian Institute of Technology, 2020 |